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Iberian Robotics conference

ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference pp 595–605Cite as

End-Effector Precise Hand-Guiding for Collaborative Robots

Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 694)

Abstract

Hand-guiding is a main functionality of collaborative robots, allowing to rapidly and intuitively interact and program a robot. Many applications require end-effector precision positioning during the teaching process. This paper presents a novel method for precision hand-guiding at the end-effector level. From the end-effector force/torque measurements the hand-guiding force/torque (HGFT) is achieved by compensating for the tools weight/inertia. Inspired by the motion properties of a passive mechanical system, mass subjected to coulomb/viscous friction, it was implemented a control scheme to govern the linear/angular motion of the decoupled end-effector. Experimental tests were conducted in a KUKA iiwa robot in an assembly operation.

Keywords

  • Hand-guiding
  • Collaborative robot
  • End-effector

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Acknowledgments

This research was partially supported by Portugal 2020 project DM4Manufacturing POCI-01-0145-FEDER-016418 by UE/FEDER through the program COMPETE 2020, the European Unions Horizon 2020 research and innovation programme under grant agreement No 688807 - ColRobot project, and the Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017.

Author information

Authors and Affiliations

  1. University of Coimbra, 3000-033, Coimbra, Portugal

    Mohammad Safeea & Pedro Neto

  2. Arts et Metiers ParisTech, LSIS Lille 8, Boulevard Louis XIV, 59046, LILLE Cedex, France

    Richard Bearee & Pedro Neto

Authors
  1. Mohammad Safeea
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  2. Richard Bearee
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  3. Pedro Neto
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Corresponding author

Correspondence to Pedro Neto .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Safeea, M., Bearee, R., Neto, P. (2018). End-Effector Precise Hand-Guiding for Collaborative Robots. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_49

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  • DOI: https://doi.org/10.1007/978-3-319-70836-2_49

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70835-5

  • Online ISBN: 978-3-319-70836-2

  • eBook Packages: EngineeringEngineering (R0)

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